version: 66.12
glider: 38
mission: 4
dive: 131
start: 11 11 115 10 15 56
data:
$ID,38
$MISSION,4
$DIVE,131
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,1250
$T_MISSION,1440
$T_ABORT,1500
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78712
$MASS_COMP,9134.2002
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040549999
$HD_B,0.0101
$HD_C,9.8540004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,250
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,100
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2140
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1022.6598
$PRESSURE_SLOPE,0.00093318848
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004402326
$SEABIRD_T_H,0.00064293214
$SEABIRD_T_I,2.6613103e-05
$SEABIRD_T_J,3.266618e-06
$SEABIRD_C_G,-9.6536341
$SEABIRD_C_H,1.1178679
$SEABIRD_C_I,-0.0014615374
$SEABIRD_C_J,0.00018686533
$GPS1,111115,101054,2636.8086,-7647.7070,40,0.9,43,-8.5,0.6,149.4,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.8
$GPS2,111115,101530,2636.7866,-7647.6875,5,0.9,12,-8.5,0.0,0.0,10,9.8
$SPEED_LIMITS,0.440,0.498
$TGT_NAME,WB2
$TGT_LATLONG,2630.000,-7644.500
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.196643,-0.067499
$KALMAN_X,277051.062500,0.000000,0.000000,-871760.125000,15460.062500
$KALMAN_Y,158733.406250,0.000000,0.000000,-424200.437500,4468.718750
$MHEAD_RNG_PITCHd_Wd,182.8,13634,-17.9,-16.000,-20.00,3174
$D_GRID,6000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.99,-332.5,170,2215,212,188,0.0,0.0,0,191,0.00,0.00,-173.12,0.149,16386,0.000,0.000,170,2215,2444,2389,2499,0,0,0,0,0,0,26.89,28.83,26.91
$GC,194,-1.03,-439.8,170,2216,2389,2500,3.9,-6.3,17,249,10.48,2.05,-38.58,0.159,18692,0.291,0.077,2628,3596,3657,3630,3684,0,0,0,0,0,0,25.64,26.15,25.94
$GC,345,-0.89,-439.8,2627,3596,3629,3684,44.3,-27.7,31,351,0.17,1.88,0.00,0.000,3078,0.196,0.060,2682,2158,3656,3629,3684,0,0,0,0,0,0,25.97,26.53,26.15
$GC,661,-0.89,-439.8,2683,2157,3629,3684,115.4,-20.5,52,667,0.00,2.05,0.00,0.000,260,0.000,0.077,2673,3600,3656,3629,3684,0,0,0,0,0,0,26.99,26.53,27.01
$GC,740,-0.89,-439.8,2673,3600,3629,3684,131.2,-19.5,57,745,0.00,1.80,0.00,0.000,1030,0.000,0.057,2673,2217,3656,3629,3684,0,0,0,0,0,0,26.79,26.75,26.80
$GC,1058,-0.89,-439.8,2673,2216,3629,3684,184.4,-16.0,71,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3656,3629,3684,0,0,0,0,0,0,27.09,27.10,27.10
$GC,1358,-0.89,-439.8,2673,2216,3629,3684,233.4,-16.5,81,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3656,3629,3684,0,0,0,0,0,0,27.11,27.13,27.13
$GC,1658,-0.89,-439.8,2672,2216,3629,3683,280.0,-14.9,91,1663,0.00,2.00,0.00,0.000,260,0.000,0.077,2662,3605,3656,3629,3683,0,0,0,0,0,0,27.13,26.64,27.14
$GC,1723,-0.89,-439.8,2662,3605,3629,3684,289.4,-14.5,93,1727,0.00,1.85,0.00,0.000,1030,0.000,0.060,2662,2183,3656,3629,3684,0,0,0,0,0,0,26.90,26.86,26.91
$GC,2041,-0.89,-439.8,2662,2182,3629,3683,338.3,-15.7,101,2047,0.00,2.00,0.00,0.000,260,0.000,0.077,2652,3595,3655,3629,3682,0,0,0,0,0,0,27.13,26.64,27.15
$GC,2119,-0.89,-439.8,2651,3596,3629,3683,346.1,-16.2,102,2123,0.10,1.83,0.00,0.000,3078,0.189,0.060,2686,2177,3655,3629,3682,0,0,0,0,0,0,26.51,26.87,26.62
$GC,2448,-0.95,-439.8,2686,2175,3629,3680,402.0,-15.1,110,2453,0.00,2.05,0.00,0.000,260,0.000,0.077,2677,3594,3654,3629,3680,0,0,0,0,0,0,27.13,26.64,27.15
$GC,2494,-1.00,-439.8,2676,3594,3629,3680,409.2,-15.3,111,2500,0.00,1.85,0.00,0.000,1030,0.000,0.057,2677,2205,3654,3629,3679,0,0,0,0,0,0,26.89,26.87,26.91
$GC,2809,-1.00,-439.8,2676,2203,3629,3677,459.9,-16.2,118,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3653,3629,3677,0,0,0,0,0,0,27.13,27.15,27.14
$GC,3125,-1.06,-439.8,2676,2204,3629,3675,508.5,-15.1,125,3131,0.05,2.00,0.00,0.000,4356,0.189,0.077,2619,3595,3652,3629,3675,0,0,0,0,0,0,26.91,26.63,26.93
$GC,3171,-1.06,-439.8,2618,3596,3629,3675,516.6,-15.5,126,3176,0.00,1.83,0.00,0.000,1030,0.000,0.060,2619,2194,3652,3629,3675,0,0,0,0,0,0,26.91,26.86,26.91
$GC,3485,-1.06,-439.8,2618,2192,3629,3673,577.6,-19.2,133,3490,0.00,2.03,0.00,0.000,260,0.000,0.077,2608,3591,3651,3629,3673,0,0,0,0,0,0,27.13,26.63,27.15
$GC,3567,-1.06,-439.8,2608,3591,3628,3673,586.5,-19.3,134,3576,0.00,1.88,0.00,0.000,1030,0.000,0.060,2608,2193,3651,3629,3673,0,0,0,0,0,0,26.89,26.84,26.88
$GC,3891,-1.06,-439.8,2607,2192,3629,3669,656.3,-19.0,142,3895,0.00,2.05,0.00,0.000,260,0.000,0.077,2598,3592,3649,3629,3669,0,0,0,0,0,0,27.13,26.63,27.15
$GC,3960,-1.06,-439.8,2597,3600,3629,3669,666.1,-19.3,143,3966,0.10,1.90,0.00,0.000,3078,0.179,0.057,2631,2183,3649,3629,3669,0,0,0,0,0,0,26.44,26.86,26.50
$GC,4300,-1.06,-439.8,2631,2181,3629,3665,735.0,-18.8,151,4306,0.00,2.08,0.00,0.000,260,0.000,0.077,2622,3598,3647,3629,3665,0,0,0,0,0,0,27.13,26.63,27.15
$GC,4391,-1.06,-439.8,2621,3598,3628,3665,752.6,-19.1,153,4397,0.00,1.83,0.00,0.000,1030,0.000,0.060,2622,2214,3646,3628,3665,0,0,0,0,0,0,26.89,26.85,26.91
$GC,4706,-1.06,-439.8,2621,2212,3629,3660,813.5,-19.2,160,4710,0.00,2.05,0.00,0.000,260,0.000,0.079,2611,3592,3645,3629,3661,0,0,0,0,0,0,27.14,26.62,27.15
$GC,4754,-1.06,-439.8,2611,3592,3628,3661,822.5,-18.9,161,4760,0.00,1.85,0.00,0.000,1030,0.000,0.060,2611,2191,3644,3628,3661,0,0,0,0,0,0,26.90,26.86,26.91
$GC,5069,-1.06,-439.8,2611,2191,3628,3656,883.0,-19.2,168,5073,0.00,2.08,0.00,0.000,260,0.000,0.077,2601,3592,3642,3628,3656,0,0,0,0,0,0,27.14,26.60,27.15
$GC,5140,-1.06,-439.8,2600,3592,3628,3655,892.7,-19.5,169,5144,0.00,1.90,0.00,0.000,1030,0.000,0.057,2601,2199,3641,3627,3656,0,0,0,0,0,0,26.87,26.86,26.89
$GC,5479,-1.06,-439.8,2601,2198,3627,3649,960.2,-18.2,177,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2197,3638,3627,3650,0,0,0,0,0,0,27.14,27.16,27.15
$GC,5825,-1.06,-439.8,2601,2197,3628,3645,1023.1,-18.2,183,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2197,3636,3628,3645,0,0,0,0,0,0,27.10,27.13,27.13
$GC,6185,-1.06,-439.8,2600,2197,3627,3640,1090.9,-18.8,186,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2197,3634,3628,3640,0,0,0,0,0,0,27.10,27.13,27.12
$GC,6545,-1.06,-439.8,2601,2197,3626,3636,1160.0,-19.2,189,6552,0.00,2.15,0.00,0.000,260,0.000,0.079,2590,3598,3631,3626,3636,0,0,0,0,0,0,27.10,26.55,27.12
$GC,6578,-1.06,-439.8,2590,3598,3625,3636,1160.0,-19.2,189,6584,0.12,1.90,0.00,0.000,3078,0.176,0.057,2632,2193,3630,3624,3636,0,0,0,0,0,0,26.41,26.82,26.53
$GC,6914,-1.11,-439.8,2633,2192,3622,3634,1220.9,-17.0,192,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2192,3627,3621,3633,0,0,0,0,0,0,27.10,27.13,27.12
$GC,7274,-1.19,-439.8,2633,2192,3620,3629,1278.2,-16.0,195,7279,0.00,2.17,0.00,0.000,4356,0.000,0.077,2623,3597,3625,3620,3630,0,0,0,0,0,0,27.12,26.51,27.13
$GC,7334,-1.26,-439.8,2623,3597,3618,3630,1278.2,-16.0,195,7339,0.08,1.90,0.00,0.000,5126,0.142,0.057,2570,2216,3624,3618,3630,0,0,0,0,0,0,26.67,26.80,26.74
$GC,7756,-1.26,-439.8,2570,2215,3617,3625,1369.3,-19.2,199,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2214,3621,3617,3625,0,0,0,0,0,0,27.10,27.13,27.13
$GC,8115,-1.26,-439.8,2570,2215,3614,3623,1440.5,-19.7,202,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2214,3618,3614,3623,0,0,0,0,0,0,27.10,27.13,27.12
$GC,8475,-1.26,-439.8,2570,2214,3613,3620,1508.4,-19.0,205,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2214,3616,3613,3620,0,0,0,0,0,0,27.10,27.13,27.12
$STATE,8832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8832,begin apogee
$GC,8836,-0.25,0.0,2570,2214,3611,3618,1577.1,-19.1,208,9195,0.95,0.00,355.38,1.793,10246,0.146,0.000,2895,2214,2140,2154,2127,0,0,0,0,0,0,25.87,23.91,22.89
$STATE,9196,end apogee,CONTROL_FINISHED_OK
$STATE,9196,begin climb
$GC,9197,1.03,439.8,2894,2214,2154,2127,1600.7,0.0,211,9579,1.08,2.42,370.40,1.751,11012,0.117,0.087,3266,3575,625,644,607,0,0,0,0,0,0,24.15,23.92,22.94
$GC,9673,1.03,439.8,3266,3576,644,608,1562.7,10.5,215,9679,0.00,2.03,0.00,0.000,1030,0.000,0.057,3276,2229,625,644,607,0,0,0,0,0,0,25.57,25.54,25.58
$GC,10034,0.89,439.8,3276,2229,643,607,1495.8,18.7,218,10040,0.00,2.12,0.00,0.000,516,0.000,0.065,3287,812,625,643,607,0,0,0,0,0,0,26.77,26.51,26.79
$GC,10110,0.76,439.8,3287,812,643,607,1495.8,18.7,218,10115,0.25,2.03,0.00,0.000,5126,0.184,0.062,3208,2194,625,643,607,0,0,0,0,0,0,26.25,26.57,26.44
$GC,10510,0.73,516.7,3208,2195,643,607,1430.5,13.5,222,10574,0.00,0.00,61.88,1.651,8198,0.000,0.000,3208,2195,360,382,339,0,0,0,0,0,0,26.97,25.25,24.29
$GC,10869,0.73,516.7,3208,2195,382,339,1378.8,14.1,225,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2194,360,382,339,0,0,0,0,0,0,26.76,26.78,26.78
$GC,11229,0.75,591.7,3208,2195,382,338,1330.5,13.6,228,11269,0.00,0.00,37.97,1.587,8198,0.000,0.000,3208,2195,199,217,181,0,0,0,0,0,0,26.95,25.52,24.53
$GC,11589,0.77,655.8,3208,2195,218,189,1280.0,13.9,231,11594,0.00,0.00,3.03,0.668,8198,0.000,0.000,3208,2194,200,214,186,0,0,0,0,0,0,26.80,26.08,24.74
$GC,11950,0.77,655.8,3208,2195,213,189,1226.7,14.6,234,11957,0.00,2.15,2.55,0.479,8452,0.000,0.077,3208,3605,199,212,187,0,0,0,0,0,0,26.95,25.74,24.75
$GC,12002,0.77,655.8,3208,3605,212,187,1226.7,14.6,234,12007,0.00,2.05,0.00,0.000,1030,0.000,0.057,3218,2179,199,212,187,0,0,0,0,0,0,26.72,26.69,26.73
$GC,12426,0.77,655.8,3218,2178,212,187,1149.9,16.1,238,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2178,199,212,187,0,0,0,0,0,0,27.01,27.04,27.03
$GC,12786,0.77,655.8,3217,2178,212,187,1097.1,14.8,241,12791,0.00,1.98,0.00,0.000,516,0.000,0.065,3228,840,199,212,187,0,0,0,0,0,0,27.05,26.70,27.06
$GC,12817,0.77,655.8,3227,839,212,187,1097.1,14.8,241,12821,0.00,2.00,0.00,0.000,1030,0.000,0.062,3228,2196,199,212,187,0,0,0,0,0,0,26.79,26.73,26.82
$GC,13146,0.77,655.8,3227,2196,212,187,1042.9,15.0,244,13150,0.00,2.12,0.00,0.000,260,0.000,0.079,3227,3596,199,212,187,0,0,0,0,0,0,27.05,26.60,27.08
$GC,13215,0.77,655.8,3228,3596,212,188,1042.9,15.0,244,13220,0.00,1.98,0.03,0.216,9222,0.000,0.057,3238,2208,200,212,188,0,0,0,0,0,0,26.79,26.77,26.58
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$STATE,19891,end climb,SURFACE_DEPTH_REACHED
$STATE,19891,begin surface coast
$FINISH,-0.1,1.023448
$STATE,19912,end surface coast,CONTROL_FINISHED_OK
$STATE,19912,begin surface
$SM_CCo,19986,0.00,0.000,0,0,203,562.68
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$IRIDIUM_FIX,2627.01,-7646.95,060908,171949
$TT8_MAMPS,0.025466,0.025466
$HUMID,92.84
$INTERNAL_PRESSURE,9.28014
$TCM_TEMP,21.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1554.6,38.2
$24V_AH,22.89,45.003
$10V_AH,10.30,31.060
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.650,115.625,845.200,0.000,211.700,22.377,30.069,131.583,10.500,0.000,13.571,1544.379,15083.893,986.480,2558.142,93.116,0.000,1933.538,0.000,2289.794,0.000,79.362,0.000
$DEVICE_MAMPS,290.511,86.905,1792.726,0.000,158.912,126.630,160.000,223.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.232,1471.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329908
$DATA_FILE_SIZE,30317,450
$CAP_FILE_SIZE,140730,0
$CFSIZE,1024409600,994394112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.241,8.27,1
$GPS,111115,155009,2634.944,-7647.445,26,0.8,31,-8.5,0.0,0.0,9,9.6